#ifndef MBOT_LINUX_SERIAL_H
#define MBOT_LINUX_SERIAL_H

#include <ros/ros.h>
#include <ros/time.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <boost/asio.hpp>
#include <geometry_msgs/Twist.h>

extern void Serial_Init();
extern void writeSpeed(int* p,unsigned char ctrlFlag);
extern bool readSpeed(unsigned char &checkFlag, unsigned char &statusInfo, unsigned char &errorInfo, 
                      int *speedValues, int *positionValues);
unsigned char getCrc8(unsigned char *ptr, unsigned short len);

#endif
